• 한국소음진동공학회논문집
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• 제25권12호
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• pp.822-829
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• 2015

A transfer matrix method has been developed to determine the more accurate natural frequencies for the bending vibration of Bernoulli-Euler beam with linearly reduced width and a concentrated tip mass. The proposed method can be computed an infinite number of the natural frequencies using a single element. Using the differential equation, shear force, and bending moment in which can be deduced by the diverse variational principles, a transfer matrix is formulated. The roots of the differential equation are computed by the Frobenius method. The effect of the concentrated mass for the natural frequencies of width-tapered beams is examined through a parametric study, and to show the accuracy of the proposed method, the computed results compared with those obtained from commercial finite element analysis program(ANSYS).

• Smart Structures and Systems
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• 제22권1호
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• pp.105-120
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• 2018

In this paper, the nonlinear free and forced vibration responses of sandwich nano-beams with three various functionally graded (FG) patterns of reinforced carbon nanotubes (CNTs) face-sheets are investigated. The sandwich nano-beam is resting on nonlinear Visco-elastic foundation and is subjected to thermal and electrical loads. The nonlinear governing equations of motion are derived for an Euler-Bernoulli beam based on Hamilton principle and von Karman nonlinear relation. To analyze nonlinear vibration, Galerkin's decomposition technique is employed to convert the governing partial differential equation (PDE) to a nonlinear ordinary differential equation (ODE). Furthermore, the Multiple Times Scale (MTS) method is employed to find approximate solution for the nonlinear time, frequency and forced responses of the sandwich nano-beam. Comparison between results of this paper and previous published paper shows that our numerical results are in good agreement with literature. In addition, the nonlinear frequency, force response and nonlinear damping time response is carefully studied. The influences of important parameters such as nonlocal parameter, volume fraction of the CNTs, different patterns of CNTs, length scale parameter, Visco-Pasternak foundation parameter, applied voltage, longitudinal magnetic field and temperature change are investigated on the various responses. One can conclude that frequency of FG-AV pattern is greater than other used patterns.

• Structural Engineering and Mechanics
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• 제32권4호
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• pp.501-516
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• 2009

This paper aims to study the large deflections of variable-arc-length elastica subjected to the terminal forces (e.g., axial force and torque). Based on Kirchhoff's rod theory and with help of Euler parameters, the set of nonlinear governing differential equations which free from the effect of singularity are established together with boundary conditions. The system of nonlinear differential equations is solved by using the shooting method with high accuracy integrator, seventh-eighth order Runge-Kutta with adaptive step-size scheme. The error norm of end conditions is minimized within the prescribed tolerance ($10^{-5}$). The behavior of VAL elastica is studied by two processes. One is obtained by applying slackening first. After that keeping the slackening as a constant and then the twist angle is varied in subsequent order. The other process is performed by reversing the sequence of loading in the first process. The results are interpreted by observing the load-deflection diagram and the stability properties are predicted via fold rule. From the results, there are many interesting aspects such as snap-through phenomenon, secondary bifurcation point, loop formation, equilibrium configurations and effect of variable-arc-length to behavior of elastica.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• 한국정밀공학회지
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• 제11권4호
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• pp.99-105
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• 1994

In this study, the transverse and the torsional vibration analyses of a precision dynamic drive system with the magnetic coupling are accomplished. The force of the magnetic coupling is regarded as an equivalent transverse stiffness, which has a nonlinearity as a function of the gap and the eccentricity between a driver and a follower. Such an equivalent stiffness is calculated by and determined by the physical law and the calculated equivalent stiffness is modelled as the truss element. The form of the torque function transmitted through the magnetic coupling is a sinusoidal and such an equivalent angular stiffness, which represents the torque between a driver and a follower, is modelled as a nonlinear spring. The main spindle connected to a follower is assumed to a rigid body. And then finally we have the nonlinear partial differential equation with respect to the angular displacements. Through the procedure mentioned above, we accomplish the results of the torsional vibration analysis in a spindle system with the magnetic coupling.

• Steel and Composite Structures
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• 제33권3호
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• pp.463-472
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• 2019

Initial thermo-elastic and steady state creep deformation of a rotating functionally graded simple blade is studied using first-order shear deformation theory. A variable thickness model for cantilever beam has been considered. The blade geometry and loading are defined as functions of length so that one can define his own blade profile and loading using any arbitrary function. The blade is subjected to a transverse distributed load, an inertia body force due to rotation and a distributed temperature field due to a thermal gradient between the tip and the root. All mechanical and thermal properties except Poisson's ratio are assumed to be longitudinally variable based on the volume fraction of reinforcement. The creep behaviour is modelled by Norton's law. Considering creep strains in stress strain relation, Prandtl-Reuss relations, Norton' law and effective stress relation differential equation in term of effective creep strain is established. This differential equation is solved numerically. By effective creep strain, steady state stresses and deflections are obtained. It is concluded that reinforcement particle size and form of distribution of reinforcement has significant effect on the steady state creep behavior of the blade.

• Structural Engineering and Mechanics
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• 제69권2호
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• pp.131-143
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• 2019

In this study, the nonlinear vibration analysis of the composite nanoplate is studied. The composite nanoplate is fabricated by the functional graded (FG) core and lipid face sheets. The material properties in the FG core vary in three directions. The Kelvin-Voigt model is used to study the viscoelastic effect of the lipid layers. By using the Von-Karman assumptions, the nonlinear differential equation of the vibration analysis of the composite nanoplate is obtained. The foundation of the system is modeled by the nonlinear Pasternak foundation. The Bubnov-Galerkin method and the multiple scale method are used to solve the nonlinear differential equation of the composite nanoplate. The free and force vibration analysis of the composite nanoplate are studied. A comparison between the presented results and the reported results is done and good achievement is obtained. The reported results are verified by the results which are obtained by the Runge-Kutta method. The effects of different parameters on the nonlinear vibration frequencies, the primary, the super harmonic and subharmonic resonance cases are investigated. This work will be useful to design the nanosensors with high biocompatibility.

• Steel and Composite Structures
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• 제50권4호
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• pp.429-441
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• 2024

This paper studies the free vibration behavior of trapezoidal shaped coupled double-layered graphene sheets (DLGS) system using first-order shear deformation theory (FSDT) and incorporating nonlocal elasticity theory. Two nanoplates are assumed to be bonded by an interlayer van der walls force and surrounded by an external kelvin-voight viscoelastic medium. The governing equations together with related boundary condition are discretized using a mapping-differential quadrature method (DQM) in the spatial domain. Then the natural frequency of the system is obtained by solving the eigen value matrix equation. The validity of the current study is evaluated by comparing its numerical results with those available in the literature and then a parametric study is thoroughly performed, concentrating on the series effects of angles and aspect ratio of GS, viscoelastic medium, and nonlocal parameter. The model is used to study the vibration of DLGS for two typical deformation modes, the in-phase and out-of-phase vibrations, which are investigated. Numerical results indicate that due to Increasing the damping parameter of the viscoelastic medium has reduced the frequency of both modes and this medium has been able to overdamped the oscillations and by increasing stiffness parameters both in-phase and out-of-phase vibration frequencies increased.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.910-916
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• 2015

A sensorless motor control scheme with conventional back-Electro Motive Force (EMF) sensing based on zero crossing point (ZCP) detection has been widely used in various applications. However, there are several problems with the conventional method for effectively driving sensorless brushless motors. For example, a phase mismatch of 30 degrees occurs between the ZCP and commutation time. Additionally, most of the motor speed/current controls are achieved based on a pulse width modulation (PWM) method, which generates significant noise that distracts the back-EMF sensing. Due to the PWM switching, the ZCP is not deterministic, and thus the efficiency of the motor is reduced because the phase transition points become uncertain. Moreover, the motor driving performance is degraded at a low speed range due to the effect of PWM noise. To solve these problems, an improved back-EMF detection method based on a differential line method is proposed in this paper. In addition, the proposed sensorless BLDC driver addresses the problems by using a variable voltage driver generated from a buck converter. The variable voltage driver does not generate the PWM switching noise. Consequently, the proposed sensorless motor driver improves 1) the signal-to-noise ratio of back-EMF, 2) the operation range of a BLDC motor, and 3) the torque characteristics. The proposed sensorless motor driver is verified through simulations and experiments.

• Structural Engineering and Mechanics
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• 제75권6호
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• pp.747-769
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• 2020

This paper provides a semi-analytical approach to investigate the variations of 3D displacement components, electric potential, stresses, electric displacements and transverse vibration frequencies in laminated piezoelectric composite plates based on the scaled boundary finite element method (SBFEM) and the precise integration algorithm (PIA). The proposed approach can analyze the static and dynamic responses of multilayered piezoelectric plates with any number of laminae, various geometrical shapes, boundary conditions, thickness-to-length ratios and stacking sequences. Only a longitudinal surface of the plate is discretized into 2D elements, which helps to improve the computational efficiency. Comparing with plate theories and other numerical methods, only three displacement components and the electric potential are set as the basic unknown variables and can be represented analytically through the transverse direction. The whole derivation is built upon the three dimensional key equations of elasticity for the piezoelectric materials and no assumptions on the plate kinematics have been taken. By virtue of the equilibrium equations, the constitutive relations and the introduced set of scaled boundary coordinates, three-dimensional governing partial differential equations are converted into the second order ordinary differential matrix equation. Furthermore, aided by the introduced internal nodal force, a first order ordinary differential equation is obtained with its general solution in the form of a matrix exponent. To further improve the accuracy of the matrix exponent in the SBFEM, the PIA is employed to make sure any desired accuracy of the mechanical and electric variables. By virtue of the kinetic energy technique, the global mass matrix of the composite plates constituted by piezoelectric laminae is constructed for the first time based on the SBFEM. Finally, comparisons with the exact solutions and available results are made to confirm the accuracy and effectiveness of the developed methodology. What's more, the effect of boundary conditions, thickness-to-length ratios and stacking sequences of laminae on the distributions of natural frequencies, mechanical and electric fields in laminated piezoelectric composite plates is evaluated.